view packages/io/can/current/include/canio.h @ 3266:edcc78939bd0

* include/canio.h: Added structure cyg_can_err_count_info for reading CAN hardware error counter values from CAN hardware. * doc/can.sgml: Documented new CAN config key CYG_IO_GET_CONFIG_ERR_COUNTERS.
author sergeig
date Wed, 28 Aug 2013 16:28:10 +0000
parents 2dde4203a2c7
children
line wrap: on
line source

#ifndef CYGONCE_CANIO_H
#define CYGONCE_CANIO_H
// ====================================================================
//
//      canio.h
//
//      Device I/O 
//
// ====================================================================
// ####ECOSGPLCOPYRIGHTBEGIN####                                            
// -------------------------------------------                              
// This file is part of eCos, the Embedded Configurable Operating System.   
// Copyright (C) 1998, 1999, 2000, 2001, 2002 Free Software Foundation, Inc.
//
// eCos is free software; you can redistribute it and/or modify it under    
// the terms of the GNU General Public License as published by the Free     
// Software Foundation; either version 2 or (at your option) any later      
// version.                                                                 
//
// eCos is distributed in the hope that it will be useful, but WITHOUT      
// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or    
// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License    
// for more details.                                                        
//
// You should have received a copy of the GNU General Public License        
// along with eCos; if not, write to the Free Software Foundation, Inc.,    
// 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.            
//
// As a special exception, if other files instantiate templates or use      
// macros or inline functions from this file, or you compile this file      
// and link it with other works to produce a work based on this file,       
// this file does not by itself cause the resulting work to be covered by   
// the GNU General Public License. However the source code for this file    
// must still be made available in accordance with section (3) of the GNU   
// General Public License v2.                                               
//
// This exception does not invalidate any other reasons why a work based    
// on this file might be covered by the GNU General Public License.         
// -------------------------------------------                              
// ####ECOSGPLCOPYRIGHTEND####                                              
// ====================================================================
//#####DESCRIPTIONBEGIN####
//
// Author(s):    Uwe Kindler
// Contributors: gthomas
// Date:         2005-05-12
// Purpose:      Special support for CAN I/O devices
// Description:
//
//####DESCRIPTIONEND####
//
// ====================================================================


//===========================================================================
//                               INCLUDES
//===========================================================================
#include <pkgconf/system.h>
#include <pkgconf/io_can.h>
#include <pkgconf/hal.h>
#include <cyg/infra/cyg_type.h>
#include <cyg/io/config_keys.h>


#ifdef __cplusplus
extern "C" {
#endif


//===========================================================================
//                                DATA TYPES
//===========================================================================

//
// Supported baud rates
//
typedef enum {
    CYGNUM_CAN_KBAUD_10 = 1,
    CYGNUM_CAN_KBAUD_20,
    CYGNUM_CAN_KBAUD_50,
    CYGNUM_CAN_KBAUD_100,
    CYGNUM_CAN_KBAUD_125,
    CYGNUM_CAN_KBAUD_250,
    CYGNUM_CAN_KBAUD_500,
    CYGNUM_CAN_KBAUD_800,
    CYGNUM_CAN_KBAUD_1000,
    CYGNUM_CAN_KBAUD_AUTO, // automatic detection of baudrate (if supported by hardware)
} cyg_can_baud_rate_t;
#define CYGNUM_CAN_KBAUD_MIN CYGNUM_CAN_KBAUD_10 
#define CYGNUM_CAN_KBAUD_MAX CYGNUM_CAN_KBAUD_1000


// Note: two levels of macro are required to get proper expansion.
#define _CYG_CAN_BAUD_RATE(n) CYGNUM_CAN_KBAUD_##n
#define CYG_CAN_BAUD_RATE(n) _CYG_CAN_BAUD_RATE(n)

//
// Event types for received events. Not all event types are supported by each CAN
// hardware but normally these events should cover the most common CAN events
// that may occur. A combination of the event type values is allowed.
//
#define CYGNUM_CAN_EVENT_RX                  0x00000001 // message received
#define CYGNUM_CAN_EVENT_TX                  0x00000002 // mesage transmitted
#define CYGNUM_CAN_EVENT_WARNING_RX          0x00000004 // tx error counter (TEC) reached warning level (>96)
#define CYGNUM_CAN_EVENT_WARNING_TX          0x00000008 // rx error counter (REC) reached warning level (>96)
#define CYGNUM_CAN_EVENT_ERR_PASSIVE         0x00000010 // CAN "error passive" occured
#define CYGNUM_CAN_EVENT_BUS_OFF             0x00000020 // CAN "bus off" error occured
#define CYGNUM_CAN_EVENT_OVERRUN_RX          0x00000040 // overrun in RX queue occured
#define CYGNUM_CAN_EVENT_OVERRUN_TX          0x00000080 // overrun in TX queue occured
#define CYGNUM_CAN_EVENT_CAN_ERR             0x00000100 // a CAN bit or frame error occured
#define CYGNUM_CAN_EVENT_LEAVING_STANDBY     0x00000200 // CAN hardware leaves standby/power down mode or is waked up
#define CYGNUM_CAN_EVENT_ENTERING_STANDBY    0x00000400 // CAN hardware enters standby/power down mode
#define CYGNUM_CAN_EVENT_ARBITRATION_LOST    0x00000800 // arbitration lost
#define CYGNUM_CAN_EVENT_FILTER_ERR          0x00001000 // CAN message filter / acceptance filter error
#define CYGNUM_CAN_EVENT_PHY_FAULT           0x00002000 // General failure of physical layer detected (if supported by hardware)
#define CYGNUM_CAN_EVENT_PHY_H               0x00004000 // Fault on CAN-H detected (Low Speed CAN)
#define CYGNUM_CAN_EVENT_PHY_L               0x00008000 // Fault on CAN-L detected (Low Speed CAN)
#define CYGNUM_CAN_EVENT_ERR_ACTIVE          0x00010000 // CAN controller now "error active"
#define CYGNUM_CAN_EVENT_OVERRUN_RX_HW       0x00020000 // CAN controller reports a RX overrun

typedef cyg_int32 cyg_can_event_flags_t;

#define CYGNUM_CAN_EVENT_ALL                       \
  CYGNUM_CAN_EVENT_RX                              \
  |CYGNUM_CAN_EVENT_TX                             \
  |CYGNUM_CAN_EVENT_WARNING_RX                     \
  |CYGNUM_CAN_EVENT_WARNING_TX                     \
  |CYGNUM_CAN_EVENT_ERR_PASSIVE                    \
  |CYGNUM_CAN_EVENT_BUS_OFF                        \
  |CYGNUM_CAN_EVENT_OVERRUN_RX                     \
  |CYGNUM_CAN_EVENT_OVERRUN_TX                     \
  |CYGNUM_CAN_EVENT_CAN_ERR                        \
  |CYGNUM_CAN_EVENT_LEAVING_STANDBY                \
  |CYGNUM_CAN_EVENT_ENTERING_STANDBY               \
  |CYGNUM_CAN_EVENT_ARBITRATION_LOST               \
  |CYGNUM_CAN_EVENT_FILTER_ERR                     \
  |CYGNUM_CAN_EVENT_PHY_FAULT                      \
  |CYGNUM_CAN_EVENT_PHY_H                          \
  |CYGNUM_CAN_EVENT_PHY_L                          \
  |CYGNUM_CAN_EVENT_ERR_ACTIVE                     \
  |CYGNUM_CAN_EVENT_OVERRUN_RX_HW

//
// State of CAN controller
//
typedef enum e_cyg_can_state
{
    CYGNUM_CAN_STATE_ACTIVE,       // CAN controller is active, no errors
    CYGNUM_CAN_STATE_STOPPED,      // CAN controller is in stopped mode
    CYGNUM_CAN_STATE_STANDBY,      // CAN controller is in Sleep mode
    CYGNUM_CAN_STATE_BUS_WARN,     // CAN controller is active, warning level is reached
    CYGNUM_CAN_STATE_ERR_PASSIVE,  // CAN controller went into error passive mode
    CYGNUM_CAN_STATE_BUS_OFF,      // CAN controller went into bus off mode
    CYGNUM_CAN_STATE_PHY_FAULT,    // General failure of physical layer detected (if supported by hardware)
    CYGNUM_CAN_STATE_PHY_H,        // Fault on CAN-H detected (Low Speed CAN)
    CYGNUM_CAN_STATE_PHY_L,        // Fault on CAN-L detected (Low Speed CAN)
    CYGNUM_CAN_STATE_CONFIG,       // CAN controller is in configuration state
} cyg_can_state;

//
// Identifiers for operating mode of the CAN controller.
//
typedef enum e_cyg_can_mode
{
    CYGNUM_CAN_MODE_STOP,   // set controller into stop mode
    CYGNUM_CAN_MODE_START,  // set controller into operational mode
    CYGNUM_CAN_MODE_STANDBY,// set controller into standby / sleep mode
    CYGNUM_CAN_MODE_CONFIG, // safe mode to add/delete message buffers
    CYGNUM_CAN_MODE_LISTEN_ONLY_ENTER, // set controller into listen only mode.
    CYGNUM_CAN_MODE_LISTEN_ONLY_EXIT   // set controller out of listen only mode.
} cyg_can_mode;

//
// Type of CAN identifier. 
//
typedef enum e_cyg_can_id_type
{
    CYGNUM_CAN_ID_STD = 0x00, // standard ID 11 Bit
    CYGNUM_CAN_ID_EXT = 0x01  // extended ID 29 Bit
} cyg_can_id_type;

//
// Type of CAN frame
//
typedef enum e_cyg_can_frame_type
{
    CYGNUM_CAN_FRAME_DATA = 0x00, // CAN data frame
    CYGNUM_CAN_FRAME_RTR  = 0x01  // CAN remote transmission request
} cyg_can_frame_type;

//
// Message buffer configuration identifier - we do not use an enum here so that
// a specific device driver can add its own configuration identifier
//
typedef cyg_uint8 cyg_can_msgbuf_cfg_id;
#define CYGNUM_CAN_MSGBUF_RESET_ALL         0 // no message will be received, all remote buffers deleted
#define CYGNUM_CAN_MSGBUF_RX_FILTER_ALL     1 // cfg driver for reception of all can messges
#define CYGNUM_CAN_MSGBUF_RX_FILTER_ADD     2 // add single message filter
#define CYGNUM_CAN_MSGBUF_REMOTE_BUF_ADD    3 // add new remote response buffer
#define CYGNUM_CAN_MSGBUF_REMOTE_BUF_WRITE  4 // store data into existing remote buffer (remote buf handle required)


//
// CAN message data - this union is a container for the 8 data bytes of a can
// message and the union is alway part of a can message - no matter if this type
// is defined by generic CAN layer or by CAN hardware device driver
//
typedef union u_cyg_can_msg_data
{
    cyg_uint8  bytes[8];    // byte access (array of 8 bytes)
    cyg_uint16 words[4];    // word access (array of 4 words)
    cyg_uint32 dwords[2];   // double word access (array of 2 dwords)
} cyg_can_msg_data;

//
// CAN message type for transport or transmit of CAN messages 
// The message data is a union. This enables byte, word and dword access and
// also ensures a 4 byte alignment of the message data
//
typedef struct st_cyg_can_message
{
    cyg_uint32          id;     // 11 Bit or 29 Bit CAN identifier - cyg_can_id_type 
    cyg_can_msg_data    data;   // CAN data (8 data bytes)
    cyg_can_id_type     ext;    // CYGNUM_CAN_ID_STD = 11 Bit CAN id, CYGNUM_CAN_ID_EXT = 29 Bit CAN id
    cyg_can_frame_type  rtr;    // CYGNUM_CAN_FRAME_DATA = data frame, CYGNUM_CAN_FRAME_RTR = remote transmission request
    cyg_uint8           dlc;    // data length code (number of bytes (0 - 8) containing valid data
} cyg_can_message;

//
// CAN event type for reception of CAN events from driver. CAN events may be
// a received CAN message or any other status information like tx msg or
// arbitration lost
//
typedef struct cyg_can_event_st
{
    cyg_uint32      timestamp;
    cyg_can_event_flags_t flags;
    cyg_can_message msg;
} cyg_can_event;

//
// CAN configuration - at the moment there is only one data member but we are
// prepared for future enhancements
//
typedef struct cyg_can_info_st {
    cyg_can_baud_rate_t   baud;
} cyg_can_info_t;


#define CYG_CAN_INFO_INIT(_baud) \
  { _baud}

//
// buffer configuration - bufsize and count for tx are the number of messages
// and for rx the number of events
//
typedef struct cyg_can_buf_info_st
{  
    cyg_uint32 rx_bufsize; 
    cyg_uint32 rx_count;
    cyg_uint32 tx_bufsize;
    cyg_uint32 tx_count;
} cyg_can_buf_info_t;

//
// Message box configuration
//
typedef struct cyg_can_msgbox_info_st
{
    cyg_uint16 count;    // number of message buffers available for this device
    cyg_uint16 free;     // number of free message buffers
} cyg_can_msgbuf_info;


//
// Timeout configuration
//
typedef struct cyg_can_timeout_info_st
{
    cyg_uint32 rx_timeout; 
    cyg_uint32 tx_timeout;
} cyg_can_timeout_info_t;


//
// For reading error counter values from CAN controller
//
typedef struct cyg_can_err_count_info_st
{
    cyg_uint8 rx_err_count;
    cyg_uint8 tx_err_count;
} cyg_can_err_count_info;


//
// this data type defines a handle to a message buffer or message box
// of the CAN hardware device
//
typedef cyg_int32 cyg_can_msgbuf_handle;


//
// structure for configuration of message buffers
//
typedef struct cyg_can_msgbox_cfg_st
{
    cyg_can_msgbuf_cfg_id  cfg_id; // configuration id - cfg. what to do with message buffer
    cyg_can_msgbuf_handle  handle; // handle to message buffer
    cyg_can_message        msg;    // CAN message - for configuration of buffer
} cyg_can_msgbuf_cfg;

//
// structure for configuration of identifier range filtering
//
typedef struct cyg_can_filter_range_cfg_st
{
    cyg_can_id_type        ext;            // type of identifier concerned
    cyg_uint32             lower_id_bound; // lower bound identifier (included)
    cyg_uint32             upper_id_bound; // upper bound identifier (included)
} cyg_can_filter_range_cfg;

//
// structure for configuration of identifier/mask filtering
//
typedef struct cyg_can_filter_mask_cfg_st
{
    cyg_can_id_type        ext;            // type of identifier concerned
    cyg_uint32             id;             // identifier to use for filtering
    cyg_uint32             mask;           // mask to apply for filtering
} cyg_can_filter_mask_cfg;

//
// this data type defines a CAN message filter. It consits
// of a handle to a message box or message buffer and a CAN message.
// For the filtering only the id and the ext field of the CAN message are
// important. The values of the other fields doesn't matter
//
typedef cyg_can_msgbuf_cfg cyg_can_filter;

//
// this data type defines a remote buffer. It consits
// of a handle to a message box or message buffer and the message data
// to send on reception of a remote request
//
typedef cyg_can_msgbuf_cfg cyg_can_remote_buf;

//
// Values for the handle field of the cyg_can_rtr_buf, cyg_can_filter and
// cyg_can_msgbuf_cfg data structure
//
#define CYGNUM_CAN_MSGBUF_NA    -0x01 // no free message buffer available


//
// The Hardware Description Interface provides a method to gather information
// about the CAN hardware and the functionality of the driver. For
// this purpose the following structure is defined:
//
// Support flags:
// |   7   |   6   |   5   |   4   |   3    |   2   |   1   |   0    |
// +-------+-------+-------+-------+--------+-------+-------+--------+
// |ListenO|Mask F |Range F|timest.|autobaud|FullCAN|   Frametype    |
//
typedef struct cyg_can_hdi_st
{
    cyg_uint8 support_flags;
    cyg_uint8 controller_type;
} cyg_can_hdi;
 
//
// Bit 0 and Bit 1 of the structure member support_flags describe the
// possibities of the CAN controller. The following values are defined: 
//
#define CYGNUM_CAN_HDI_FRAMETYPE_STD           0x00 // standard frame (11-bit identifier), 2.0A
#define CYGNUM_CAN_HDI_FRAMETYPE_EXT_PASSIVE   0x01 // extended frame (29-bit identifier), 2.0B passive
#define CYGNUM_CAN_HDI_FRAMETYPE_EXT_ACTIVE    0x02 // extended frame (29-bit identifier), 2.0B active
#define CYGNUM_CAN_HDI_FULLCAN                 0x04 // controller supports more than one receive and transmit buffer
#define CYGNUM_CAN_HDI_AUTBAUD                 0x08 // driver supports automatic baudrate detection
#define CYGNUM_CAN_HDI_TIMESTAMP               0x10 // driver supports timestamps
#define CYGNUM_CAN_HDI_RANGE_FILTERING         0x20 // driver supports identifier range filtering
#define CYGNUM_CAN_HDI_MASK_FILTERING          0x40 // driver supports identifier mask filtering
#define CYGNUM_CAN_HDI_LISTEN_ONLY             0x80 // driver supports 'listen-only' mode.

//
// Callback configuration structure.
//

typedef void (*cyg_can_event_cb_t)(cyg_uint16, CYG_ADDRWORD);
//
// flag_mask should be set with a combination of CYGNUM_CAN_EVENT_* flags.
// If one of these events happens, the callback function will be called,
// with the actually event flags passed as a parameter.
//
typedef struct cyg_can_callback_cfg_st
{
    cyg_can_event_cb_t callback_func;              // callback function
    cyg_can_event_flags_t flag_mask;               // flags mask
    CYG_ADDRWORD data;                             // data passed to callback
} cyg_can_callback_cfg;


//===========================================================================
//                      CAN MESSAGE ACCESS MACROS
//
// An application should not access a cyg_can_message directly instead it
// should use these macros for all manipulations to a CAN message.
//===========================================================================

//---------------------------------------------------------------------------
// Frame type macros
//
#define CYG_CAN_MSG_SET_FRAME_TYPE(_msg_, _type_)  ((_msg_).rtr = (_type_))
#define CYG_CAN_MSG_GET_FRAME_TYPE(_msg_)          ((_msg_).rtr)
#define CYG_CAN_MSG_SET_RTR(_msg_)                 ((_msg_).rtr = CYGNUM_CAN_FRAME_RTR)
#define CYG_CAN_MSG_IS_REMOTE(_msg_)               ((_msg_).rtr == CYGNUM_CAN_FRAME_RTR)


//---------------------------------------------------------------------------
// ID type macros
//
#define CYG_CAN_MSG_SET_ID_TYPE(_msg_, _type_)     ((_msg_).ext = (_type_))
#define CYG_CAN_MSG_GET_ID_TYPE(_msg_)             ((_msg_).ext)
#define CYG_CAN_MSG_SET_EXT(_msg_)                 ((_msg_).ext = CYGNUM_CAN_ID_EXT)
#define CYG_CAN_MSG_SET_STD(_msg_)                 ((_msg_).ext = CYGNUM_CAN_ID_STD)
#define CYG_CAN_MSG_IS_EXT(_msg_)                  ((_msg_).ext == CYGNUM_CAN_ID_EXT)


//---------------------------------------------------------------------------
// Identifier access macros
//
#define CYG_CAN_MSG_GET_ID(_msg_)                  ((_msg_).id)
#define CYG_CAN_MSG_SET_ID(_msg_, _id_)            ((_msg_).id = (_id_))
#define CYG_CAN_MSG_SET_STD_ID(_msg_, _id_)  \
CYG_MACRO_START                              \
    CYG_CAN_MSG_SET_ID(_msg_, _id_);         \
    CYG_CAN_MSG_SET_STD(_msg_);              \
CYG_MACRO_END

#define CYG_CAN_MSG_SET_EXT_ID(_msg_, _id_)  \
CYG_MACRO_START                              \
    CYG_CAN_MSG_SET_ID(_msg_, _id_);         \
    CYG_CAN_MSG_SET_EXT(_msg_);              \
CYG_MACRO_END


//---------------------------------------------------------------------------
// DLC (data length code) access macros
//
#define CYG_CAN_MSG_GET_DATA_LEN(_msg_)             ((_msg_).dlc)
#define CYG_CAN_MSG_SET_DATA_LEN(_msg_, _len_)      ((_msg_).dlc = (_len_))


//---------------------------------------------------------------------------
// CAN message data access
// This macro returns a pointer to a cyg_can_msg_data union
//
#define CYG_CAN_MSG_DATA_PTR(_msg_)                 (&(_msg_).data)
#define CYG_CAN_MSG_GET_DATA(_msg_, _pos_)          ((_msg_).data.bytes[_pos_])
#define CYG_CAN_MSG_SET_DATA(_msg_, _pos_, _val_)   ((_msg_).data.bytes[_pos_] = (_val_)) 


//---------------------------------------------------------------------------
// Access multiple parameters
//
#define CYG_CAN_MSG_SET_PARAM(_msg_, _id_, _ext_, _dlc_, _rtr_)     \
CYG_MACRO_START                                                     \
    CYG_CAN_MSG_SET_ID(_msg_, _id_);                                \
    CYG_CAN_MSG_SET_ID_TYPE(_msg_, _ext_);                          \
    CYG_CAN_MSG_SET_DATA_LEN(_msg_, _dlc_);                         \
    CYG_CAN_MSG_SET_FRAME_TYPE(_msg_, _rtr_);                       \
CYG_MACRO_END

#define CYG_CAN_MSG_INIT(_clabel_, _id_, _ext_, _dlc_, _rtr_)      \
cyg_can_message _clabel_ =                                         \
{                                                                  \
	id  : _id_,                                                    \
    ext : _ext_,                                                   \
    rtr : _rtr_,                                                   \
    dlc : _dlc_,                                                   \
}
                                                       


#ifdef __cplusplus
}
#endif

//---------------------------------------------------------------------------
#endif // CYGONCE_CANIO_H